/*
 * Copyright (C) 2023 ab_skywalker@163.com All Rights Reserved.
 *
 * SPDX-License-Identifier: MIT
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 */
#ifndef __FOC_FILTER_H
#define __FOC_FILTER_H

#include <stdint.h>

typedef struct _kalman_filter_1dimension
{
    int32_t LastP;//上次估算协方差 初始化值为0.02
    int32_t Now_P;//当前估算协方差 初始化值为0
    int32_t out;//卡尔曼滤波器输出 初始化值为0
    int32_t Kg;//卡尔曼增益 初始化值为0
    int32_t Q;//过程噪声协方差 初始化值为0.001
    int32_t R;//观测噪声协方差 初始化值为0.543
} KF1DimObj;

int16_t filterKalman1DimCalc(KF1DimObj* kf, int16_t input);
int32_t lowPassFilter1Order(int a, int x, int y);

#endif
